COMPENSATOR DESIGN FOR A MEMS GYROSCOPE WITH QUADRATICOPTIMAL CONTROL

摘要

A number of control algorithms have been reported to adopt force balancing scheme into MEMS vibratory gyroscope systems. In practice, however, many algorithms are difficult to implement with electronic circuits. This paper designs and analyzes a lead compensator for a MEMS gyroscope via the Linear Quadratic Regulator (LQR) technique. LQR optimizes and balances the control effort and system response swiftness. Simulation shows the gyroscope achieves high linearity, wide dynamic range, and high robustness to fabrication uncertainties with this efficient compensator design. The closed-loop scale factor uniformity error is 0.7% under ±10% parameter perturbations. The compensator designed in this paper exhibits comparable outstanding performance compared to other reported control algorithms. The method reported in this paper is proved to be effective and can be used in a wide range of applications.